\begin{equation}
  y_1     = \delta
  y_2     = \dot{\delta}
  y_3     = \beta
  y_4     = \dot{\beta}
  y_5     = \theta
  y_6     = \dot{\theta}
  y_7     = x_{ih}
  y_8     = \dot{x_{ih}}
  y_9     = y_{ih}
  y_{10} = \dot{y_{ih}}
  y_{11} = x_{mh}
  y_{12} = \dot{x_{mh}}
  y_{13} = y_{mh}
  y_{14} = \dot{y_{mh}}
\end{equation}

